Omron R88M-K - Page 385

7-31
7 Applied Functions
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
7-9 Gain Switching Function
7
7-9-2 Gain Switching Based on the Control Mode
*6 When the set value is 10, the meanings of the Gain Switching Delay Time in Position Control, the Gain
Switching Level in Position Control, and the Gain Switching Hysteresis in Position Control differ from the
normal case. (Refer to Figure E.)
Figure A
Command torque
Figure C
Time
Figure D
Figure E
Gain 1
Gain 1
Gain 2
Time
Figure B
Rotation
speed (V)
Gain 1
Gain 2
Time
Commanded rotation
speed (S)
Gain 1
Gain 2
Time
Gain 1
Level
H
L
H
L
H
L
H
L
Pulse position error
Position
command
value
Motor speed
H
L
Level
Level
Time
Time
Level
Gain 1
Gain 1
Gain 2
Gain 1 Gain 1
Gain 1
Gain 1
Gain 2 Gain 2
Rotation
speed (V)
Rotation
speed (V)